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Stockholders' Equity - Additional Information (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2020
Mar. 31, 2019
Jan. 01, 2020
Jan. 01, 2019
2016 Equity Incentive Plan        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Percentage of outstanding share of common stock 4.00%      
Additional number of shares available for issuance     1,163,377 965,603
Common stock available for future issuance 1,511,409      
2016 Equity Incentive Plan | Stock Options        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Stock option to purchase an aggregate of common stock shares 1,205,000 1,042,300    
Stock options to purchase common stock aggregate fair value $ 6.4 $ 6.2    
2016 Employee Stock Purchase Plan        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Stock option to purchase an aggregate of common stock shares 25,928 20,132    
Aggregate cash proceeds from sale of shares $ 0.2 $ 0.1